Adaptive Control of Delayed Teleoperation Systems with Parameter Convergence

Abstract

It is well known that parameter convergence in adaptive control can bring about an improvement of system performance, including accurate online identification, exponential tracking, and robust adaptation without parameter drift. However, strong persistentexcitation (PE) or sufficient-excitement (SE) conditions should be satisfied to guarantee parameter convergence in the classical adaptive control. This paper proposes a novel adaptive control to guarantee parameter convergence without PE and SE conditions for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criterion of the closed-loop teleoperation system is given in terms of linear matrix inequalities. The effectiveness of this approach is illustrated by simulation studies, where both master and slave are assumed to be two-link manipulators with full nonlinear system dynamics.

Filling Control of a Conical Tank Using a Compact Neuro‐Fuzzy Adaptive Control System

“…As stated in [5], parameter convergence in the adaptive control produces improvements in the system performance, including accurate online identification, exponential monitoring, and robust adaptation without parameter deviation. Nevertheless, parameter convergence must fulfill the strong persistent-excitation (PE) or sufficient-excitement (SE) as a guarantee of parameter convergence in the classic adaptive control.…”

Outer Synchronization of a Modified Quorum-Sensing Network via Adaptive Control

“…Thereinto, adaptive control could be used to design controllers for systems with uncertain parameters. Due to great demands from wide applications, many researches have been carried out to investigate synchronization induced by adaptive controllers [31]. It is worth pointing out that there are few researches focused on outer synchronization of networks coupled through quorum sensing.…”